CN102501208B - Alternating-current electric wrench - Google Patents

Alternating-current electric wrench Download PDF

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Publication number
CN102501208B
CN102501208B CN201110293819.8A CN201110293819A CN102501208B CN 102501208 B CN102501208 B CN 102501208B CN 201110293819 A CN201110293819 A CN 201110293819A CN 102501208 B CN102501208 B CN 102501208B
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China
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described
gear
planetary
connected
current value
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CN201110293819.8A
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Chinese (zh)
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CN102501208A (en
Inventor
刘博�
王力争
孙荣权
苗峰显
肖峰
王艳
侯镭
王小松
方士君
陈振瓯
戴刚平
袁海中
Original Assignee
国家电网公司
国家电网公司交流建设分公司
江苏金立电子机械科技有限公司
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Priority to CN201110293819.8A priority Critical patent/CN102501208B/en
Publication of CN102501208A publication Critical patent/CN102501208A/en
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Publication of CN102501208B publication Critical patent/CN102501208B/en

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Abstract

The invention discloses an alternating-current electric wrench, which comprises a shell, a power unit, a universal motor, an ordinary gear train speed reducer, a planetary gear train speed reducer, a wrench body, a sensor, an information processor and a display device. The universal motor is disposed in the shell and connected with the power unit, the ordinary gear train speed reducer is driven by the universal motor and connected to the shell, and the wrench body is connected with the planetary gear train speed reducer which is driven by the ordinary gear train speed reducer. The sensor is used for measuring rotating speed of the universal motor, the information processor comprises a torque computing module, a memory module and a control module, the torque computing module is connected with the sensor and the display module, the memory module is provided with a preset reference current value, the control module is used for measuring a practical current value of the universal motor and comparing the practical current value with the reference current value, and the control module controls the universal motor to stop rotating when the practical current value is larger than the reference current value. The alternating-current electric wrench is capable of providing larger torsion, and the torque value can be set according to mounting requirements.

Description

A kind of alternating-current electric wrench

Technical field

The present invention relates to assembly tool field, relate to a kind of alternating-current electric wrench more specifically.

Background technology

Along with the development of China's industry, assembly tool field is just towards lighting, automation direction development.Spanner, as the instrument tightening or unscrew bolt, is a kind of requisite assembly tool in the every profession and trades such as the vehicles, engineering machinery, power equipment maintaining.

Spanner of the prior art is mainly divided into three kinds: a kind of spanner shown without torque data for manpower, the spanner that another kind has torque data to show for manpower, and another is the pneumatic spanner without moment of torsion display.Due to the quantitative limitation of people self power, it is in the work of 1-200Nm that manual power wrench can only be applied in torque value requirement, and pneumatic impact spanner also only can be applicable to the work that torque value requirement is 1-500Nm.When installation need comparatively high pulling torque time, manual power wrench and pneumatic impact spanner can not meet installs requirement to high pulling torque.

In addition, manual power wrench of the prior art and pneumatic impact spanner all can not arrange moment of torsion.But, often require in installation process that the pretightning force of multiple bolt is equal, to ensure trade union college stress equalization.Because manual power wrench of the prior art and pneumatic impact spanner can not arrange torque value, thus its can not ensure multiple bolt to screw power identical.

Therefore, how to provide a kind of high pulling torque spanner, corresponding torque value can be set according to installation requirement, become those skilled in the art's important technological problems to be solved.

Summary of the invention

For solving the problems of the technologies described above, the invention provides a kind of alternating-current electric wrench, it can provide larger torsional forces, and can set corresponding torque value according to installation requirement.

Technical scheme provided by the invention is as described below:

A kind of alternating-current electric wrench provided by the invention, comprising: housing, supply unit, be arranged at the inside of described housing and altering sharp motor, altering sharp driven by motor and the wrench body being connected to the ordinary gear train deceleration device of described housing, the epicyclic train deceleration device driven by described ordinary gear train deceleration device and being connected with described epicyclic train deceleration device by described of being connected with described supply unit; Described epicyclic train deceleration device is comprised and is connected to central gear on described housing and multiple planetary gear be meshed with described central gear by tooth rest by the first rotating shaft, described first rotating shaft is installed with takes turns with the end of described ordinary gear train deceleration device the fluted disc be meshed, and described wrench body is connected with multiple described planetary axle center; Described alternating-current electric wrench also comprises sensor, information processor and display unit for altering the rotating speed of sharp motor described in measuring, described information processor comprises and described sensor and the torque arithmetic module be connected with described display unit, the memory module being preset with reference current value and for the actual current value of altering sharp motor described in measuring and the control module of described actual current value and described reference current value being made comparisons, when described actual current value is greater than described reference current value, described in control module controls, alter sharp motor stalls.

Preferably, described ordinary gear train deceleration device is comprised and is connected to first group of gear of described housing by the second rotating shaft and is connected to second group of gear of described housing by the 3rd rotating shaft; Described power output shaft of altering sharp motor is provided with external tooth, described first group of gear comprises the first gear be meshed with described external tooth and the first pinion be coaxially connected with described first gear, described second group of gear comprises the second largest gear be meshed with described first pinion and the second pinion be coaxially connected with described second largest gear, and described second pinion is meshed with described fluted disc.

Preferably, described wrench body is connected with multiple described planetary axle center by moving block, and described moving block is connected by bearing pin with multiple described planetary axle center respectively, and described wrench body is connected to the centre of gyration of described moving block.

Preferably, described planetary gear is many groups of distributing vertically and the described planetary gear of each group is multiple, the multiple described planetary gear of each group is all meshed with central gear, described planetary gear between each group is corresponding vertically, described bearing pin is through multiple described planetary axle center corresponding vertically, and described moving block is connected in multiple described planetary axle center respectively by described bearing pin.

Preferably, described wrench body is removably connected to the centre of gyration of described moving block.

Preferably, described housing is provided with door handle device.

Alternating-current electric wrench provided by the invention, comprise housing, supply unit, alter sharp motor, ordinary gear train deceleration device, epicyclic train deceleration device and wrench body, wherein alter the inside that sharp motor is arranged at housing, supply unit with alter sharp motor and be connected and the electric energy of altering needed for sharp motor is provided, ordinary gear train deceleration device is by altering sharp driven by motor, ordinary gear train deceleration device drives epicyclic train deceleration device to rotate, and wrench body is connected with epicyclic train deceleration device; Described epicyclic train deceleration device is comprised and is connected to central gear on described housing and multiple planetary gear be meshed with described central gear by tooth rest by the first rotating shaft, described first rotating shaft is installed with takes turns with the end of described ordinary gear train deceleration device the fluted disc be meshed, and described wrench body is connected with multiple described planetary axle center; Described alternating-current electric wrench also comprises sensor, information processor and display unit for altering the rotating speed of sharp motor described in measuring, described information processor comprises and described sensor and the torque arithmetic module be connected with described display unit, the memory module being preset with reference current value and for the actual current value of altering sharp motor described in measuring and the control module of described actual current value and described reference current value being made comparisons, when described actual current value is greater than described reference current value, described in control module controls, alter sharp motor stalls.

It should be noted that, alter the small volume of sharp motor, and power is comparatively large, its rotating speed can reach 20000 turns more than min, when power is constant, rotating speed declines, and its output torque will increase.Alternating-current electric wrench provided by the invention, it alters sharp motor speed comparatively greatly, and after ordinary gear train deceleration device and epicyclic train deceleration device slow down, its rotating speed can be reduced to a few revolution per second, therefore its Driving Torque is larger.In addition, it should be noted that, planetary centre wheel rotating speed is larger, and the number of teeth of its central gear is less than the planetary number of teeth, planetary gear is under the drive of central gear, and carry out rotation and the revolution around central gear, its revolution speed is very little, wrench body of the present invention is connected with multiple planetary axle center, therefore can drive the rotation of wrench body by planetary revolution.So, the high-speed rotation of motor can be realized to be reduced to slowly run by planetary gear pair, and then make motor export high pulling torque.

In addition, in the process of wrench body screwing bolts, the moment of resistance suffered by wrench body increases gradually, and when wrench body increases by the moment of resistance, its rotating speed reduces, and then the rotating speed of motor is reduced, and when motor speed is forced to reduce, its internal current will increase.Information processor provided by the invention comprises memory module and control module, memory module pre-sets a reference current value by staff, when in the course of work, alter sharp motor to increase by the moment of resistance, the actual current of motor is caused to increase, control module can measure this actual current value, and actual current value and reference current value are made comparisons, when actual current value is more than or equal to reference current value, namely when the moment of torsion that wrench body exports is setting moment of torsion, control module controls to alter sharp motor stalls, and wrench body stops screwing bolt.So, by arranging the size of above-mentioned reference current value, the output torque of wrench body can be set.Therefore, alternating-current electric wrench provided by the invention, can set output torque value, when the pretightning force of multiple bolt requires equal, can adopt alternating-current electric wrench provided by the invention, and its torque value exported is fixed value, and then can ensure trade union college stress equalization.

It should be noted that, when alternating-current electric wrench is in screwing bolts process, the moment of resistance be subject to along with it increases gradually, the rotating speed of altering sharp motor reduces gradually, therefore calculate by measuring the rotating speed of altering sharp motor the output torque learning alternating-current electric wrench, therefore alternating-current electric wrench provided by the invention, be provided with for measuring the sensor of altering sharp motor speed, information processor comprises the torque arithmetic module be connected with this sensor, the motor speed that this torque arithmetic module records by sensor calculates the output torque obtaining alternating-current electric wrench, because information processor is connected with display unit, therefore it can by result of calculation display in display unit, namely display unit is passed through, staff can learn the situation of alternating-current electric wrench output torque.

In sum, alternating-current electric wrench provided by the invention, it can provide larger torsional forces, and can set corresponding torque value according to installation requirement.

Accompanying drawing explanation

In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.

Fig. 1 is the structural representation of alternating-current electric wrench in the specific embodiment of the invention;

Fig. 2 is the control principle schematic diagram of alternating-current electric wrench in the specific embodiment of the invention.

Detailed description of the invention

The invention provides a kind of alternating-current electric wrench, it can provide larger torsional forces, and can set corresponding torque value according to installation requirement.

Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in inventive embodiments, obviously, described embodiment is only this detailed description of the invention part embodiment, instead of whole embodiments.Based on the embodiment in this detailed description of the invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.

Please refer to Fig. 1 and Fig. 2, Fig. 1 is the structural representation of alternating-current electric wrench in the specific embodiment of the invention; Fig. 2 is the control principle schematic diagram of alternating-current electric wrench in the specific embodiment of the invention.

Alternating-current electric wrench provided in the present embodiment, comprises housing 11, supply unit 19, alters sharp motor 12, ordinary gear train deceleration device 13, epicyclic train deceleration device 14 and wrench body 15.

It should be noted that, altering sharp motor 12 can be arranged in housing 11, its power output shaft is extended in housing 11, alter power supply needed for sharp motor 12 to be provided by supply unit 19, this supply unit 19 can be specially a kind of portable charged bag, certainly, when conditions permit, provided in the present embodimently alter sharp motor 12 and also can directly directly be connected with power supply, only need to provide and alter sharp motor 12 and rotate required electric energy.

Alter sharp motor 12 and drive ordinary gear train deceleration device 13, ordinary gear train deceleration device 13 drives epicyclic train deceleration device 14 to rotate.It is by such as under type realization, epicyclic train deceleration device 14 is comprised and is connected to central gear on housing 11 and multiple planetary gear be meshed with central gear by tooth rest by the first rotating shaft, first rotating shaft is installed with takes turns with the end of ordinary gear train deceleration device the fluted disc be meshed, and wrench body 15 is connected with multiple planetary axle center.First rotating shaft is rotating is arranged at housing 11, which is provided with fluted disc, fluted disc is taken turns by the end of ordinary gear train deceleration device and is meshed, and then torque can be sent to the first rotating shaft by ordinary gear train deceleration device, first rotating shaft is provided with central gear, central gear drives planetary gear rotation, and planetary gear, while autobiography, also has the revolution around central gear.Wrench body 15 is rotated with planetary revolution.

Setting like this, ordinary gear train deceleration device 13 can make the deceleration obtained more by a small margin of altering sharp motor 12, then by the reduction of speed that epicyclic train deceleration device 14 carries out by a relatively large margin, then moment of torsion is sent to wrench body 15.Wrench body 15 need be suitable with the nut of bolt, it should be noted that, wrench body 15 can be inner hexagon spanner main body, also can be the wrench body that can be placed on nut.

Should be appreciated that in the motor of Same Efficieney, alter the small volume of sharp motor 12, be easy to carry, and its rotating speed is very fast, rotating speed can reach 20000 turns min.Those skilled in the art are understandable that, when power is constant, the rotating speed of altering sharp motor 12 declines, and its moment of torsion exported will increase.Alternating-current electric wrench provided in the present embodiment, it alters sharp motor 12 rotating speed comparatively greatly, and after ordinary gear train deceleration device 13 and epicyclic train deceleration device 14 slow down, its rotating speed can be reduced to a few revolution per second, therefore its Driving Torque is larger.

In addition, it should be noted that, planetary centre wheel rotating speed is larger, and the number of teeth of its central gear is less than the planetary number of teeth, planetary gear is under the drive of central gear, and carry out rotation and the revolution around central gear, its revolution speed is very little, wrench body 15 provided in the present embodiment is connected with multiple planetary axle center, therefore can drive the rotation of wrench body 15 by planetary revolution.Setting like this, can realize the high-speed rotation of motor to be reduced to slowly run by planetary gear pair, and then makes motor export high pulling torque.

Alternating-current electric wrench provided in the present embodiment also comprises sensor 16, information processor 17 and display unit 18 for measuring the rotating speed of altering sharp motor 12.

Wherein, information processor 17 comprises and sensor 16 and the torque arithmetic module be connected with display unit 18, the memory module being preset with reference current value and for measuring the actual current value of altering sharp motor 12 and the control module of actual current value and reference current value being made comparisons, when actual current value is greater than reference current value, control module controls to alter sharp motor stalls.

It should be noted that, in the process of wrench body 15 screwing bolts, the moment of resistance suffered by wrench body 15 increases gradually, when wrench body 15 increases by the moment of resistance, its rotating speed reduces, and then the rotating speed of altering sharp motor 15 is reduced, when motor speed is forced to reduce, its internal current will increase.

Information processor 17 provided in the present embodiment comprises memory module and control module, memory module pre-sets a reference current value by staff, when in the course of work, alter sharp motor to increase by the moment of resistance, the actual current of motor is caused to increase, control module can measure this actual current value, and actual current value and reference current value are made comparisons, when actual current value is more than or equal to reference current value, namely when the moment of torsion that wrench body exports is setting moment of torsion, control module controls to alter sharp motor stalls, wrench body stops screwing bolt.

Setting like this, by arranging the size of above-mentioned reference current value, can arrange the output torque of wrench body 15.Therefore, alternating-current electric wrench provided in the present embodiment, can set output torque value, when the pretightning force of multiple bolt requires equal, can adopt alternating-current electric wrench provided in the present embodiment, its torque value exported is fixed value, and then can ensure trade union college stress equalization.

In addition, it should be noted that, when alternating-current electric wrench is in screwing bolts process, the moment of resistance be subject to along with it increases gradually, the rotating speed of altering sharp motor 12 reduces gradually, therefore the output torque of alternating-current electric wrench is learnt by measuring the rotating speed of altering sharp motor 12, therefore alternating-current electric wrench provided in the present embodiment, be provided with for measuring the sensor 16 of altering sharp motor speed 12, information processor 17 comprises the torque arithmetic module be connected with this sensor, the motor speed that this torque arithmetic module records by sensor 16 calculates the output torque obtaining alternating-current electric wrench, because information processor 17 is connected with display unit 18, therefore it can by result of calculation display in display unit 18, namely by display unit 18, staff can learn the situation of alternating-current electric wrench output torque.

In sum, alternating-current electric wrench provided by the invention, it can provide larger torsional forces, and can set corresponding torque value according to installation requirement.

Alternating-current electric wrench provided in the present embodiment, its ordinary gear train deceleration device 13 can specific as followsly be arranged.Ordinary gear train deceleration device 13 can be comprised and is connected to first group of gear of housing 11 by the second rotating shaft and is connected to second group of gear of housing 11 by the 3rd rotating shaft.Certainly, also can comprise the 3rd group of gear, the 4th group of gear etc., the quantity of this detailed description of the invention to gear train is not construed as limiting.Content will describe in detail for two groups of gears below.

The power output shaft of altering sharp motor 12 is provided with external tooth, first group of gear comprises the first gear be meshed with the external tooth of motor power output shaft and the first pinion be coaxially connected with first gear, second group of gear comprises the second largest gear be meshed with the first pinion and the second pinion be coaxially connected with second largest gear, and the second pinion is meshed with fluted disc.

It should be noted that, above-mentioned first gear, the first pinion and second largest gear, the second pinion can be specially spur gear, certainly, also can be the gear of other type, such as helical gear, bevel gear etc.

Setting like this, the power output shaft of altering sharp motor 12 is provided with external tooth, by external tooth, moment of torsion is delivered to the first gear of first group of gear, because first gear and the first pinion are coaxially arranged, therefore first gear is equal with the rotating speed of the first pinion, first pinion is meshed with second largest gear, and because the first pinion number of teeth is less than second largest gear, therefore the rotating speed of second largest gear is less than the rotating speed of the first pinion.Second pinion and second largest gear are coaxially arranged, second pinion is identical with second largest gear rotational speed, moment of torsion is delivered to fluted disc by the second pinion, and then drive the central gear of planetary gear pair to rotate, the number of teeth of the second pinion is less than Teeth Number, therefore the rotating speed of fluted disc is less than the rotating speed of the second pinion, namely the rotating speed of the central gear of planet gear pair is less than the rotating speed of the second pinion.Obviously, alter the decelerating effect of sharp motor 12 through fixed axis gear ordinary gear train deceleration device 13, preliminary deceleration can be realized.

In addition, wrench body 15 provided in the present embodiment is connected with multiple planetary axle center by such as under type.Wrench body 15 is connected by the axle center of a moving block with multiple new gear, and this moving block is provided with the pin-and-hole corresponding with multiple planetary axle center, and bearing pin is plugged in the pin-and-hole of moving block and planetary axle center hole simultaneously.It should be noted that, because planetary gear has rotation, therefore the connection of bearing pin and planetary axle center hole is rotating connection, can ensure, rotating under multiple planetary revolution drives of moving block.Wrench body 15 is arranged at the centre of gyration of moving block, and then drives moving block to rotate by planetary gear, drives wrench body 15 to rotate to make moving block.

Because planetary gear drives wrench body 15 to carry out screwing of nut around the revolution of central gear, therefore the moment of resistance suffered by planetary gear is larger, in order to ensure that planetary gear more stably revolves round the sun, the planetary gear that this detailed description of the invention provides can be many groups, each group of multiple planetary gears comprising equal amount, such as, two groups can be divided into, be respectively first group of planetary gear and two groups of epicyclic gears, first group of planetary gear comprises three planetary gears, and second group equally also needs to comprise three planetary gears.These two groups are distributed in central gear vertically, and often organize three planetary gears are all meshed with central gear.Three planetary axle center one_to_one corresponding of first group of planetary three planetary axle center and second group, bearing pin is vertically through planetary axle center, and bearing pin is through the centre of gyration of above-mentioned moving block.

Setting like this, moving block drives it to rotate by multi-layer gear, effectively improves the stability of its rotation process.

In order to make alternating-current electric wrench provided in the present embodiment, be applicable to the installation of the bolt of various model, the dismountable centre of gyration being arranged at moving block of wrench body 15.Setting like this, when the model of bolt is different, only need pull down wrench body, change the wrench body suitable with bolt.

In addition, in order to improve the operability of alternating-current electric wrench provided in the present embodiment, housing 11 can be provided with door handle device.This door handle device can be arranged at the opposite end that housing 11 is provided with wrench body 15.Setting like this, staff carries out installment work by holds handle device, effectively improves the operability of alternating-current electric wrench.

To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the present invention.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.

Claims (4)

1. an alternating-current electric wrench, it is characterized in that, comprising: housing, supply unit, be arranged at the inside of described housing and altering sharp motor, altering sharp driven by motor and the wrench body being connected to the ordinary gear train deceleration device of described housing, the epicyclic train deceleration device driven by described ordinary gear train deceleration device and being connected with described epicyclic train deceleration device by described of being connected with described supply unit; Described epicyclic train deceleration device is comprised and is connected to central gear on described housing and multiple planetary gear be meshed with described central gear by tooth rest by the first rotating shaft, described first rotating shaft is installed with takes turns with the end of described ordinary gear train deceleration device the fluted disc be meshed, and described wrench body is connected with multiple described planetary axle center; Described alternating-current electric wrench also comprises sensor, information processor and display unit for altering the rotating speed of sharp motor described in measuring, described information processor comprises the torque arithmetic module be connected with described sensor and described display unit, the memory module being preset with reference current value and for the actual current value of altering sharp motor described in measuring and the control module of described actual current value and described reference current value being made comparisons, when described actual current value is greater than described reference current value, described in control module controls, alter sharp motor stalls; Described wrench body is connected with multiple described planetary axle center by moving block, and described moving block is connected by bearing pin with multiple described planetary axle center respectively, and described wrench body is connected to the centre of gyration of described moving block; Described planetary gear is two groups, is respectively first group of planetary gear and two groups of epicyclic gears, and described first group of planetary gear comprises three planetary gears, and described two groups of epicyclic gears comprises three planetary gears; Described first group of planetary gear and described two groups of epicyclic gears are distributed in the periphery of described central gear vertically, and often organize three described planetary gears are all meshed with described central gear; Described first group planetary three planetary axle center and described second group planetary three planetary axle center one_to_one corresponding, bearing pin is vertically through planetary axle center;
Described ordinary gear train deceleration device is comprised and is connected to first group of gear of described housing by the second rotating shaft and is connected to second group of gear of described housing by the 3rd rotating shaft; Described power output shaft of altering sharp motor is provided with external tooth, described first group of gear comprises the first gear be meshed with described external tooth and the first pinion be coaxially connected with described first gear, described second group of gear comprises the second largest gear be meshed with described first pinion and the second pinion be coaxially connected with described second largest gear, and described second pinion is meshed with described fluted disc.
2. alternating-current electric wrench as claimed in claim 1, it is characterized in that, described planetary gear is many groups of distributing vertically and the described planetary gear of each group is multiple, the multiple described planetary gear of each group is all meshed with central gear, described planetary gear between each group is corresponding vertically, described bearing pin is through multiple described planetary axle center corresponding vertically, and described moving block is connected with multiple described planetary axle center respectively by described bearing pin.
3. alternating-current electric wrench as claimed in claim 2, it is characterized in that, described wrench body is removably connected to the centre of gyration of described moving block.
4. alternating-current electric wrench as claimed in claim 3, it is characterized in that, described housing is provided with door handle device.
CN201110293819.8A 2011-09-29 2011-09-29 Alternating-current electric wrench CN102501208B (en)

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WO2013143489A1 (en) * 2012-03-31 2013-10-03 苏州宝时得电动工具有限公司 Hand-held electric tool and control method thereof
CN103962996B (en) * 2013-02-01 2016-02-17 江苏金立电子机械科技有限公司 A kind of AC electrical torque wrench
CN203566588U (en) * 2013-05-27 2014-04-30 成都众山科技有限公司 Convenient-to-use electric internal hexagonal wrench
CN104552115A (en) * 2013-10-09 2015-04-29 江苏金立电子机械科技有限公司 DC (Direct Current) electric fixed-torque wrench
CN105388922A (en) * 2014-09-02 2016-03-09 苏州宝时得电动工具有限公司 Control method and control system for electric tool, and electric tool
WO2016034136A1 (en) * 2014-09-02 2016-03-10 苏州宝时得电动工具有限公司 Control method and control system for electric tool, and electric tool
CN105929788A (en) * 2014-09-02 2016-09-07 苏州宝时得电动工具有限公司 Electric tool control method and system, and electric tool
CN106965119B (en) * 2017-02-28 2018-08-24 浙江大学 Electric wrench

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